2018-12-14 17:04:42 +01:00
|
|
|
/*
|
|
|
|
* Copyright (C) 2018 dimercur
|
|
|
|
*
|
|
|
|
* This program is free software: you can redistribute it and/or modify
|
|
|
|
* it under the terms of the GNU General Public License as published by
|
|
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|
|
|
* (at your option) any later version.
|
|
|
|
*
|
|
|
|
* This program is distributed in the hope that it will be useful,
|
|
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
|
|
* GNU General Public License for more details.
|
|
|
|
*
|
|
|
|
* You should have received a copy of the GNU General Public License
|
|
|
|
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
|
|
*/
|
|
|
|
|
|
|
|
#ifndef __CAMERA_H__
|
|
|
|
#define __CAMERA_H__
|
|
|
|
|
|
|
|
#include <opencv2/highgui/highgui.hpp>
|
|
|
|
#include <opencv2/imgproc/imgproc.hpp>
|
|
|
|
|
2019-01-09 16:32:16 +01:00
|
|
|
#ifndef __FOR_PC__
|
|
|
|
#include "raspicam/raspicam_cv.h"
|
|
|
|
#endif /* __FOR_PC__ */
|
2018-12-14 17:04:42 +01:00
|
|
|
#include "img.h"
|
|
|
|
|
2019-01-15 16:25:48 +01:00
|
|
|
/**
|
|
|
|
* Enumerate for picture size
|
|
|
|
*/
|
2018-12-14 17:04:42 +01:00
|
|
|
enum captureSize {xs, sm, md, lg};
|
|
|
|
|
2019-01-15 16:25:48 +01:00
|
|
|
/**
|
|
|
|
* Class for camera (image grab)
|
|
|
|
*
|
|
|
|
* @brief Class for camera (image grab)
|
2019-04-11 08:46:48 +02:00
|
|
|
* How to grab an image and send it to the monitor:
|
|
|
|
* 1. Grab an image, for example:
|
|
|
|
* Img * img = new Img(cam->Grab());
|
|
|
|
* 2. Instanciate the message to send the image:
|
|
|
|
* MessageImg *msgImg = new MessageImg(MESSAGE_CAM_IMAGE, img);
|
2019-01-15 16:25:48 +01:00
|
|
|
*/
|
2018-12-14 17:04:42 +01:00
|
|
|
class Camera {
|
|
|
|
public:
|
2019-04-11 08:46:48 +02:00
|
|
|
Camera();
|
|
|
|
|
2019-01-15 16:25:48 +01:00
|
|
|
/**
|
|
|
|
* Create an object for accessing camera
|
|
|
|
* @param size Size of picture to grab (@see captureSize)
|
|
|
|
* @param fps speed of sampling
|
|
|
|
*/
|
2019-01-09 16:32:16 +01:00
|
|
|
Camera(int size, int fps);
|
2018-12-14 17:04:42 +01:00
|
|
|
|
2019-01-15 16:25:48 +01:00
|
|
|
/**
|
|
|
|
* Open camera
|
|
|
|
* @return True if camera is open, false otherwise
|
|
|
|
*/
|
2019-01-04 16:55:48 +01:00
|
|
|
bool Open();
|
2019-01-15 16:25:48 +01:00
|
|
|
|
|
|
|
/**
|
|
|
|
* Close and release camera
|
|
|
|
*/
|
2019-01-04 16:55:48 +01:00
|
|
|
void Close();
|
|
|
|
|
2019-01-15 16:25:48 +01:00
|
|
|
/**
|
|
|
|
* Get width of sampled image
|
|
|
|
* @return Width of sampled picture
|
|
|
|
*/
|
2019-01-04 16:55:48 +01:00
|
|
|
int GetWidth() const;
|
2019-01-15 16:25:48 +01:00
|
|
|
|
|
|
|
/**
|
|
|
|
* Get height of sampled image
|
|
|
|
* @return height of sampled picture
|
|
|
|
*/
|
2019-01-04 16:55:48 +01:00
|
|
|
int GetHeight() const;
|
2018-12-14 17:04:42 +01:00
|
|
|
|
2019-01-15 16:25:48 +01:00
|
|
|
/**
|
|
|
|
* Get opening status for camera
|
|
|
|
* @return true if camera is open, false otherwise
|
|
|
|
*/
|
2019-01-04 16:55:48 +01:00
|
|
|
bool IsOpen();
|
2019-01-15 16:25:48 +01:00
|
|
|
|
|
|
|
/**
|
|
|
|
* Define size for sampled picture
|
|
|
|
* @param size Size of picture (@see captureSize)
|
|
|
|
*/
|
2019-01-04 16:55:48 +01:00
|
|
|
void SetSize(int size);
|
2018-12-14 17:04:42 +01:00
|
|
|
|
2019-01-15 16:25:48 +01:00
|
|
|
/**
|
|
|
|
* Grab next image from camera
|
|
|
|
* @return Image taken from camera
|
|
|
|
*/
|
2019-01-04 16:55:48 +01:00
|
|
|
Img Grab();
|
2018-12-14 17:04:42 +01:00
|
|
|
|
|
|
|
private:
|
2019-01-09 16:32:16 +01:00
|
|
|
#ifdef __FOR_PC__
|
2019-01-15 16:25:48 +01:00
|
|
|
/**
|
|
|
|
* Camera descriptor
|
|
|
|
*/
|
2018-12-14 17:04:42 +01:00
|
|
|
cv::VideoCapture cap;
|
2019-01-09 16:32:16 +01:00
|
|
|
#else
|
|
|
|
raspicam::RaspiCam_Cv cap;
|
|
|
|
#endif /* __FOR_PC__ */
|
|
|
|
|
2019-01-15 16:25:48 +01:00
|
|
|
/**
|
|
|
|
* Size for image (default= small)
|
|
|
|
*/
|
2018-12-14 17:04:42 +01:00
|
|
|
int size = sm;
|
2019-01-15 16:25:48 +01:00
|
|
|
|
|
|
|
/**
|
|
|
|
* Width of image
|
|
|
|
*/
|
2018-12-14 17:04:42 +01:00
|
|
|
int width;
|
2019-01-15 16:25:48 +01:00
|
|
|
|
|
|
|
/**
|
|
|
|
* Height of image
|
|
|
|
*/
|
2018-12-14 17:04:42 +01:00
|
|
|
int height;
|
|
|
|
};
|
|
|
|
|
|
|
|
#endif //__CAMERA_H__
|